ESP32 ULP Coprocessor Programming in Arduino framework

Hi, I would like to know whether there is some way to program the ULP processor in the ESP32 SoC alongside the Arduino framework.
I have heard of this tool called ulptool which seems to allow one to program the ULP coprocessor in assembly and interact with it via the Arduino framework, however it only seems to work with the Arduino IDE.
I was wondering if there is an equivalent tool or work around for platformio.


Indeed, PlatformIO does not currently support this in the Arduino framework, only in the ESP-IDF framework (through, example). This is also reported in Problem when compiling ESP32 ULP sources (framework Arduino) · Issue #315 · platformio/platform-espressif32 · GitHub and will be tracked there.

The last post is nearly 2 years old.

Is it still up to date or is there a possibility meanwhile available?

Third-party libraries exist that solve this problem, see here.